Swing-up a Spherical Inverted Pendulum by Energy Control

This paper derives a nonlinear system model of a spherical inverted pendulum (SIP). Based on the basic principles of conservation of energy and potential energy maximization, the motion law of the internal swing of a pendulum driven spherical robot was revealed, and the conditions and behavioral characteristics of single swing-up and multiple swing-up of a spherical inverted pendulum were obtained. We have implemented the simulation control instantiation of automatic swing up of spherical inverted pendulum. Through simulation analysis, it is shown that the strategy of automatically swing-up a spherical inverted pendulum through the principles of conservation of energy and potential energy maximization is effective.